Zhang, S., Liu, X., Basin, M., Zhu, H., Zhang, J., & He, X. (2025). Adaptive anti-sway control for 3D overhead crane with constraints on trolley motion and payload sway. IECON 2025 – 51st Annual Conference of the IEEE Industrial Electronics Society, 1–6. https://doi.org/10.1109/iecon58223.2025.11221881
Abstract:
This study proposes a nonlinear regulation controller for 3D overhead cranes, capable of achieving payload sway suppression under complex conditions. Utilizing a special form of barrier functions, constraints on the trolley motion and payload sway are derived. By analyzing the nonlinear terms, parameter estimation is incorporated to the control law, eliminating the need for prior knowledge of crane dynamics. To ensure smooth operation under varying transportation distances, a saturation function is employed to constrain the control torque generated by regulation errors. Within the Lyapunov framework, LaSalle’s invariance principle is invoked to demonstrate asymptotic convergence of the system states. Simulations validate the theoretical claims, including robustness under different transfer scenarios.
License type:
Publisher Copyright
Funding Info:
There was no specific funding for the research done